EP3676160A4 - A method for providing vehicle steering support by differential wheel braking, a system, a vehicle, a computer program and a computer-readable medium - Google Patents

A method for providing vehicle steering support by differential wheel braking, a system, a vehicle, a computer program and a computer-readable medium Download PDF

Info

Publication number
EP3676160A4
EP3676160A4 EP18849782.0A EP18849782A EP3676160A4 EP 3676160 A4 EP3676160 A4 EP 3676160A4 EP 18849782 A EP18849782 A EP 18849782A EP 3676160 A4 EP3676160 A4 EP 3676160A4
Authority
EP
European Patent Office
Prior art keywords
computer
vehicle
readable medium
wheel braking
steering support
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP18849782.0A
Other languages
German (de)
French (fr)
Other versions
EP3676160A1 (en
Inventor
Malte ROTHHÄMEL
Per BACK
Linus FLODIN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Scania CV AB
Original Assignee
Scania CV AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania CV AB filed Critical Scania CV AB
Publication of EP3676160A1 publication Critical patent/EP3676160A1/en
Publication of EP3676160A4 publication Critical patent/EP3676160A4/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D9/00—Steering deflectable wheels not otherwise provided for
    • B62D9/002—Steering deflectable wheels not otherwise provided for combined with means for differentially distributing power on the deflectable wheels during cornering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D9/00—Steering deflectable wheels not otherwise provided for
    • B62D9/005—Emergency systems using brakes for steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/40—Failsafe aspects of brake control systems
    • B60T2270/402—Back-up
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/20—Steering systems
    • B60W2510/202—Steering torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/18—Braking system

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Regulating Braking Force (AREA)
EP18849782.0A 2017-08-28 2018-08-20 A method for providing vehicle steering support by differential wheel braking, a system, a vehicle, a computer program and a computer-readable medium Pending EP3676160A4 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE1751028A SE541786C2 (en) 2017-08-28 2017-08-28 A method for providing vehicle steering support by differential wheel braking, a system, a vehicle, a computer program and a computer-readable medium.
PCT/SE2018/050839 WO2019045616A1 (en) 2017-08-28 2018-08-20 A method for providing vehicle steering support by differential wheel braking, a system, a vehicle, a computer program and a computer-readable medium

Publications (2)

Publication Number Publication Date
EP3676160A1 EP3676160A1 (en) 2020-07-08
EP3676160A4 true EP3676160A4 (en) 2021-05-19

Family

ID=65525844

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18849782.0A Pending EP3676160A4 (en) 2017-08-28 2018-08-20 A method for providing vehicle steering support by differential wheel braking, a system, a vehicle, a computer program and a computer-readable medium

Country Status (7)

Country Link
US (1) US11554762B2 (en)
EP (1) EP3676160A4 (en)
KR (1) KR102289902B1 (en)
CN (1) CN111032491B (en)
BR (1) BR112020001447A2 (en)
SE (1) SE541786C2 (en)
WO (1) WO2019045616A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102510867B1 (en) * 2018-01-31 2023-03-16 현대두산인프라코어 주식회사 Brake contorl apparatus and brake control method for construction machinery

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1993008063A1 (en) * 1991-10-16 1993-04-29 Mannesmann Aktiengesellschaft Assisted steering system for non-trackbound vehicles
GB2367543A (en) * 2000-05-25 2002-04-10 Nsk Ltd Controller for motor power steering system
DE102008046007A1 (en) * 2008-09-05 2010-03-18 Man Nutzfahrzeuge Ag Power steering device for motor vehicle, particularly commercial vehicle, has two axles, of which one axle is hinged by servo steering, and kingpin inclination is formed such that steering axle is inclined in vehicle vertical axis direction
EP3020617A1 (en) * 2013-07-08 2016-05-18 NSK Ltd. Electric power steering control device
US20160297439A1 (en) * 2015-04-08 2016-10-13 Toyota Jidosha Kabushiki Kaisha Driving support control apparatus for vehicle

Family Cites Families (40)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06135345A (en) * 1992-10-26 1994-05-17 Aisin Seiki Co Ltd Automatic auxiliary steering gear of vehicle
US6026926A (en) * 1997-07-25 2000-02-22 Honda Giken Kogyo Kabushiki Kaisha Electric power steering apparatus
JP3564696B2 (en) 1998-12-25 2004-09-15 トヨタ自動車株式会社 Vehicle steering control device
DE19964048A1 (en) 1999-06-30 2001-01-04 Bosch Gmbh Robert Method and device for stabilizing a road vehicle
JP3780141B2 (en) 2000-03-06 2006-05-31 株式会社ジェイテクト Electric power steering control device
JP4543599B2 (en) * 2001-08-27 2010-09-15 トヨタ自動車株式会社 Automatic vehicle evacuation device
KR100684033B1 (en) 2002-02-23 2007-02-16 주식회사 만도 Method for controlling the stability of vehicles
EP1478556B1 (en) * 2002-02-28 2006-05-24 DaimlerChrysler AG Device and method for influencing the operating mode of at least one vehicle stabilising device arranged in a vehicle
JP3908074B2 (en) * 2002-04-08 2007-04-25 アイシン精機株式会社 Electric steering control device and vehicle anti-skid control device having the same
DE10235396A1 (en) * 2002-08-02 2004-02-19 Zf Lenksysteme Gmbh Steering system for a vehicle
CN1227130C (en) 2002-08-14 2005-11-16 同济大学新能源汽车工程中心 Four wheel electronic differential speed steering control system
JP3972204B2 (en) * 2003-10-28 2007-09-05 トヨタ自動車株式会社 Vehicle driving force control device
JP4632771B2 (en) * 2004-02-25 2011-02-16 株式会社小松製作所 Hydraulic steering type work vehicle
GB2435023B8 (en) * 2004-03-18 2008-10-22 Ford Global Tech Llc Parking assistance using diffrential torque steering
JP4400270B2 (en) * 2004-03-19 2010-01-20 日産自動車株式会社 Steering angle ratio control device for vehicle
US7584042B2 (en) 2004-05-13 2009-09-01 Toyota Jidosha Kabushiki Kaisha Vehicle running control device
FR2873977B1 (en) * 2004-08-03 2007-12-21 Renault Sas METHOD FOR CONTROLLING A VEHICLE USING A PILOTABLE BRAKE DEVICE
US7191047B2 (en) * 2004-09-27 2007-03-13 Delphi Technologies, Inc. Motor vehicle control using a dynamic feedforward approach
JP4546895B2 (en) * 2005-08-10 2010-09-22 日立オートモティブシステムズ株式会社 Vehicle control system
JP4669800B2 (en) * 2006-03-09 2011-04-13 日立オートモティブシステムズ株式会社 Power steering device
CN1895921A (en) * 2006-03-12 2007-01-17 周绍年 Electric automobile without gear case
JP4259537B2 (en) * 2006-04-03 2009-04-30 日産自動車株式会社 Lane departure prevention device
JP2008044466A (en) * 2006-08-11 2008-02-28 Jtekt Corp Vehicular steering device
US7973504B2 (en) * 2007-07-27 2011-07-05 GM Global Technology Operations LLC Electric power steering control
US8010252B2 (en) * 2007-10-05 2011-08-30 Ford Global Technologies Trailer oscillation detection and compensation method for a vehicle and trailer combination
CN101298256B (en) 2008-06-25 2011-01-19 河北工业大学 Electric power-assisted steering apparatus and control method thereof
DE102008042666B4 (en) 2008-10-08 2011-03-17 Ford Global Technologies, LLC, Dearborn Method for compensation of disturbances, which act on a vehicle with a power-assisted steering
JP4728406B2 (en) * 2009-01-07 2011-07-20 本田技研工業株式会社 Electric power steering device
CN102232031B (en) * 2009-01-22 2013-09-18 丰田自动车株式会社 Electric power steering device
GB2475528A (en) * 2009-11-23 2011-05-25 Haldex Brake Products Ltd Trailer braking system having independently operable brakes on either side of the trailer
JP5317940B2 (en) * 2009-12-04 2013-10-16 日立オートモティブシステムズ株式会社 Travel road departure prevention device and vehicle equipped with the same
JP5625801B2 (en) * 2010-11-22 2014-11-19 トヨタ自動車株式会社 Vehicle behavior control device
FR2971221B1 (en) * 2011-02-04 2013-03-08 Peugeot Citroen Automobiles Sa METHOD OF CONTROLLING STEERING ASSISTANCE
JP2013079003A (en) * 2011-10-04 2013-05-02 Jtekt Corp Vehicle steering device
JP6322109B2 (en) * 2014-09-29 2018-05-09 株式会社Ｓｕｂａｒｕ Vehicle travel control device
JP6179820B2 (en) * 2015-02-18 2017-08-16 トヨタ自動車株式会社 Vehicle driving support control device
JP6269557B2 (en) 2015-04-08 2018-01-31 トヨタ自動車株式会社 Vehicle driving support control device
EP3090907B1 (en) * 2015-05-05 2020-08-12 Volvo Car Corporation Secondary steering system unit, secondary steering system, vehicle and a method for secondary steering
JP6593098B2 (en) * 2015-10-27 2019-10-23 株式会社ジェイテクト Steering control device
CN106218630A (en) 2016-08-29 2016-12-14 澳特卡新能源科技（上海）有限公司 A kind of motor direct-drive car ramp start auxiliary control method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1993008063A1 (en) * 1991-10-16 1993-04-29 Mannesmann Aktiengesellschaft Assisted steering system for non-trackbound vehicles
GB2367543A (en) * 2000-05-25 2002-04-10 Nsk Ltd Controller for motor power steering system
DE102008046007A1 (en) * 2008-09-05 2010-03-18 Man Nutzfahrzeuge Ag Power steering device for motor vehicle, particularly commercial vehicle, has two axles, of which one axle is hinged by servo steering, and kingpin inclination is formed such that steering axle is inclined in vehicle vertical axis direction
EP3020617A1 (en) * 2013-07-08 2016-05-18 NSK Ltd. Electric power steering control device
US20160297439A1 (en) * 2015-04-08 2016-10-13 Toyota Jidosha Kabushiki Kaisha Driving support control apparatus for vehicle
DE102016205523A1 (en) * 2015-04-08 2016-10-13 Toyota Jidosha Kabushiki Kaisha Driving assistance control device for a vehicle

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of WO2019045616A1 *

Also Published As

Publication number Publication date
EP3676160A1 (en) 2020-07-08
CN111032491B (en) 2022-05-03
BR112020001447A2 (en) 2020-07-28
KR20200020883A (en) 2020-02-26
US20200216045A1 (en) 2020-07-09
WO2019045616A1 (en) 2019-03-07
CN111032491A (en) 2020-04-17
KR102289902B1 (en) 2021-08-17
SE541786C2 (en) 2019-12-17
US11554762B2 (en) 2023-01-17
SE1751028A1 (en) 2019-03-01

Similar Documents

Publication Publication Date Title
EP3112230B8 (en) Parking brake module, brake system and vehicle using same and method for operating a parking brake having such a module
EP3816017A4 (en) Vehicle and steering control system and method for vehicle
EP3283349A4 (en) Steering system and method for autonomus vehicles
EP3546274A4 (en) Vehicle, vehicle slope assist system, and control method thereof
EP3500437A4 (en) Vehicle wheel disc, vehicle wheel including such a wheel disc and method for producing such a wheel disc and vehicle wheel
EP3393870A4 (en) System and method for independently controlling wheel slip and vehicle acceleration
EP3397525A4 (en) System and method for locating an occupant within a vehicle
GB201719672D0 (en) Suspension and steering system for a vehicle
EP3601021A4 (en) Augmented tire traction system for two-wheeled vehicle
EP3399691A4 (en) Onboard computer system, vehicle, management method, and computer program
EP3253632B8 (en) Method for monitoring a brake for motor vehicles, brake system for implementing the method, and motor vehicle comprising same
EP3445622A4 (en) Method and apparatus for on-center steering and a fast response vehicle
EP3667641A4 (en) Vehicle driving assistance system, vehicle driving assistance method, and vehicle driving assistance program
EP3483037A4 (en) Automobile and wheel steering system
EP3265329A4 (en) Steer axle tire inflation system
EP3554721B8 (en) Method for coating motor vehicle wheel rims
EP3722162A4 (en) Tire antitheft system, vehicle control device, and vehicle control method
GB201803601D0 (en) Hydraulic steering system for vehicle wheels
EP3386812B8 (en) Brake-by-wire braking system for vehicles provided with hydraulic feedback simulator and method of actuating a braking system for vehicles thereof
EP3397506A4 (en) Fabricated vehicle wheel, wheel disc for use in such a fabricated vehicle wheel and method for producing such a wheel disc and fabricated vehicle wheel
EP3762903A4 (en) System and method for vehicle wheel detection
EP3287309A4 (en) Steering wheel, and vehicle control device and control method which use steering wheel
EP3573881A4 (en) Wheel well system and method for model vehicles
GB2515659B (en) Self tuning universal steering control system, method, and system for off-road vehicles
EP3283351A4 (en) A system for steering wheels of a motor vehicle

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20200330

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
RAP3 Party data changed (applicant data changed or rights of an application transferred)

Owner name: SCANIA CV AB

A4 Supplementary search report drawn up and despatched

Effective date: 20210421

RIC1 Information provided on ipc code assigned before grant

Ipc: B62D 6/08 20060101AFI20210415BHEP

Ipc: B60T 8/1755 20060101ALI20210415BHEP

Ipc: B60W 10/184 20120101ALI20210415BHEP

Ipc: B60W 10/20 20060101ALI20210415BHEP

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20230131

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230518

REG Reference to a national code

Ref country code: DE

Ref legal event code: R079

Free format text: PREVIOUS MAIN CLASS: B62D0006080000

Ipc: B62D0009000000

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

RIC1 Information provided on ipc code assigned before grant

Ipc: B62D 5/04 20060101ALI20240328BHEP

Ipc: B62D 9/00 20060101AFI20240328BHEP

INTG Intention to grant announced

Effective date: 20240415